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<div class="title">pcl_tests.h</div>  </div>
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<a href="pcl__tests_8h.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_TEST_MACROS</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_TEST_MACROS</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="namespacepcl_1_1test.html">   61</a></span>&#160;  <span class="keyword">namespace </span>test</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> V1, <span class="keyword">typename</span> V2&gt;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordtype">void</span> EXPECT_EQ_VECTORS (<span class="keyword">const</span> V1&amp; v1, <span class="keyword">const</span> V2&amp; v2)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      SCOPED_TRACE(<span class="stringliteral">&quot;EXPECT_EQ_VECTORS failed&quot;</span>);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      EXPECT_EQ (v1.size (), v2.size ());</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keywordtype">size_t</span> length = v1.size ();</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; length; ++i)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        EXPECT_EQ (v1[i], v2[i]);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    }</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> V1, <span class="keyword">typename</span> V2, <span class="keyword">typename</span> Scalar&gt;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordtype">void</span> EXPECT_NEAR_VECTORS (<span class="keyword">const</span> V1&amp; v1, <span class="keyword">const</span> V2&amp; v2, <span class="keyword">const</span> Scalar&amp; epsilon)</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      SCOPED_TRACE(<span class="stringliteral">&quot;EXPECT_NEAR_VECTORS failed&quot;</span>);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      EXPECT_EQ (v1.size (), v2.size ());</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keywordtype">size_t</span> length = v1.size ();</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; length; ++i)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        EXPECT_NEAR (v1[i], v2[i], epsilon);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    }</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keyword">namespace </span>internal</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>1T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>2T&gt;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      ::testing::AssertionResult XYZEQ (<span class="keyword">const</span> <span class="keywordtype">char</span>* expr1,</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                                        <span class="keyword">const</span> <span class="keywordtype">char</span>* expr2,</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                                        <span class="keyword">const</span> Point1T&amp; p1,</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                                        <span class="keyword">const</span> Point2T&amp; p2)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keywordflow">if</span> ((p1).getVector3fMap ().cwiseEqual ((p2).getVector3fMap ()).all ())</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          return ::testing::AssertionSuccess ();</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        return ::testing::AssertionFailure ()</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;Value of: &quot;</span> &lt;&lt; expr2 &lt;&lt; <span class="stringliteral">&quot;.getVector3fMap ()&quot;</span> &lt;&lt; std::endl</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;  Actual: &quot;</span> &lt;&lt; p2.getVector3fMap ().transpose () &lt;&lt; std::endl</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;Expected: &quot;</span> &lt;&lt; expr1 &lt;&lt; <span class="stringliteral">&quot;.getVector3fMap ()&quot;</span> &lt;&lt; std::endl</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;Which is: &quot;</span> &lt;&lt; p1.getVector3fMap ().transpose ();</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>1T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>2T&gt;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      ::testing::AssertionResult XYZNear (<span class="keyword">const</span> <span class="keywordtype">char</span>* expr1,</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                                          <span class="keyword">const</span> <span class="keywordtype">char</span>* expr2,</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                                          <span class="keyword">const</span> <span class="keywordtype">char</span>* abs_error_expr,</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                                          <span class="keyword">const</span> Point1T&amp; p1,</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                                          <span class="keyword">const</span> Point2T&amp; p2,</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                                          <span class="keywordtype">double</span> abs_error)</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      {</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="keyword">const</span> Eigen::Vector3f diff = ((p1).getVector3fMap () -</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                                      (p2).getVector3fMap ()).cwiseAbs ();</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordflow">if</span> ((diff.array () &lt; abs_error).all ())</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;          return ::testing::AssertionSuccess ();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        return ::testing::AssertionFailure ()</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;Some of the element-wise differences exceed &quot;</span> &lt;&lt; abs_error_expr</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;               &lt;&lt; <span class="stringliteral">&quot; (which evaluates to &quot;</span> &lt;&lt; abs_error &lt;&lt; <span class="stringliteral">&quot;)&quot;</span> &lt;&lt; std::endl</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;Difference: &quot;</span> &lt;&lt; diff.transpose () &lt;&lt; std::endl</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;  Value of: &quot;</span> &lt;&lt; expr2 &lt;&lt; <span class="stringliteral">&quot;.getVector3fMap ()&quot;</span> &lt;&lt; std::endl</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;    Actual: &quot;</span> &lt;&lt; p2.getVector3fMap ().transpose () &lt;&lt; std::endl</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;  Expected: &quot;</span> &lt;&lt; expr1 &lt;&lt; <span class="stringliteral">&quot;.getVector3fMap ()&quot;</span> &lt;&lt; std::endl</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;  Which is: &quot;</span> &lt;&lt; p1.getVector3fMap ().transpose ();</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>1T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>2T&gt;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      ::testing::AssertionResult NormalEQ (<span class="keyword">const</span> <span class="keywordtype">char</span>* expr1,</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                                           <span class="keyword">const</span> <span class="keywordtype">char</span>* expr2,</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                                           <span class="keyword">const</span> Point1T&amp; p1,</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;                                           <span class="keyword">const</span> Point2T&amp; p2)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <span class="keywordflow">if</span> ((p1).getNormalVector3fMap ().cwiseEqual ((p2).getNormalVector3fMap ()).all ())</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;          return ::testing::AssertionSuccess ();</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        return ::testing::AssertionFailure ()</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;Value of: &quot;</span> &lt;&lt; expr2 &lt;&lt; <span class="stringliteral">&quot;.getNormalVector3fMap ()&quot;</span> &lt;&lt; std::endl</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;  Actual: &quot;</span> &lt;&lt; p2.getNormalVector3fMap ().transpose () &lt;&lt; std::endl</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;Expected: &quot;</span> &lt;&lt; expr1 &lt;&lt; <span class="stringliteral">&quot;.getNormalVector3fMap ()&quot;</span> &lt;&lt; std::endl</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;Which is: &quot;</span> &lt;&lt; p1.getNormalVector3fMap ().transpose ();</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>1T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>2T&gt;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      ::testing::AssertionResult NormalNear (<span class="keyword">const</span> <span class="keywordtype">char</span>* expr1,</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                                             <span class="keyword">const</span> <span class="keywordtype">char</span>* expr2,</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                                             <span class="keyword">const</span> <span class="keywordtype">char</span>* abs_error_expr,</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                                             <span class="keyword">const</span> Point1T&amp; p1,</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;                                             <span class="keyword">const</span> Point2T&amp; p2,</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                                             <span class="keywordtype">double</span> abs_error)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keyword">const</span> Eigen::Vector3f diff = ((p1).getNormalVector3fMap () -</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                                      (p2).getNormalVector3fMap ()).cwiseAbs ();</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordflow">if</span> ((diff.array () &lt; abs_error).all ())</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          return ::testing::AssertionSuccess ();</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        return ::testing::AssertionFailure ()</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;Some of the element-wise differences exceed &quot;</span> &lt;&lt; abs_error_expr</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;               &lt;&lt; <span class="stringliteral">&quot; (which evaluates to &quot;</span> &lt;&lt; abs_error &lt;&lt; <span class="stringliteral">&quot;)&quot;</span> &lt;&lt; std::endl</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;Difference: &quot;</span> &lt;&lt; diff.transpose () &lt;&lt; std::endl</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;  Value of: &quot;</span> &lt;&lt; expr2 &lt;&lt; <span class="stringliteral">&quot;.getNormalVector3fMap ()&quot;</span> &lt;&lt; std::endl</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;    Actual: &quot;</span> &lt;&lt; p2.getNormalVector3fMap ().transpose () &lt;&lt; std::endl</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;  Expected: &quot;</span> &lt;&lt; expr1 &lt;&lt; <span class="stringliteral">&quot;.getNormalVector3fMap ()&quot;</span> &lt;&lt; std::endl</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;  Which is: &quot;</span> &lt;&lt; p1.getNormalVector3fMap ().transpose ();</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>1T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>2T&gt;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      ::testing::AssertionResult RGBEQ (<span class="keyword">const</span> <span class="keywordtype">char</span>* expr1,</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                                         <span class="keyword">const</span> <span class="keywordtype">char</span>* expr2,</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                                         <span class="keyword">const</span> Point1T&amp; p1,</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                                         <span class="keyword">const</span> Point2T&amp; p2)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      {</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keywordflow">if</span> ((p1).getRGBVector3i ().cwiseEqual ((p2).getRGBVector3i ()).all ())</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;          return ::testing::AssertionSuccess ();</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        return ::testing::AssertionFailure ()</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;Value of: &quot;</span> &lt;&lt; expr2 &lt;&lt; <span class="stringliteral">&quot;.getRGBVector3i ()&quot;</span> &lt;&lt; std::endl</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;  Actual: &quot;</span> &lt;&lt; p2.getRGBVector3i ().transpose () &lt;&lt; std::endl</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;Expected: &quot;</span> &lt;&lt; expr1 &lt;&lt; <span class="stringliteral">&quot;.getRGBVector3i ()&quot;</span> &lt;&lt; std::endl</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;Which is: &quot;</span> &lt;&lt; p1.getRGBVector3i ().transpose ();</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>1T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>2T&gt;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      ::testing::AssertionResult RGBAEQ (<span class="keyword">const</span> <span class="keywordtype">char</span>* expr1,</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                                         <span class="keyword">const</span> <span class="keywordtype">char</span>* expr2,</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                                         <span class="keyword">const</span> Point1T&amp; p1,</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;                                         <span class="keyword">const</span> Point2T&amp; p2)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="keywordflow">if</span> ((p1).getRGBAVector4i ().cwiseEqual ((p2).getRGBAVector4i ()).all ())</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          return ::testing::AssertionSuccess ();</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        return ::testing::AssertionFailure ()</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;Value of: &quot;</span> &lt;&lt; expr2 &lt;&lt; <span class="stringliteral">&quot;.getRGBAVector4i ()&quot;</span> &lt;&lt; std::endl</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;  Actual: &quot;</span> &lt;&lt; p2.getRGBAVector4i ().transpose () &lt;&lt; std::endl</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;Expected: &quot;</span> &lt;&lt; expr1 &lt;&lt; <span class="stringliteral">&quot;.getRGBAVector4i ()&quot;</span> &lt;&lt; std::endl</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;               &lt;&lt; <span class="stringliteral">&quot;Which is: &quot;</span> &lt;&lt; p1.getRGBAVector4i ().transpose ();</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      }</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    }</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  }</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;}</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="pcl__tests_8h.html#abc89de372f16ca6628cff1b92786e2f8">  199</a></span>&#160;<span class="preprocessor">#define EXPECT_XYZ_EQ(expected, actual)                  \</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="preprocessor">  EXPECT_PRED_FORMAT2(::pcl::test::internal::XYZEQ,      \</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="preprocessor">                      (expected), (actual))</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="pcl__tests_8h.html#a44aa2415e8dc966ea3051e6ae3e8f9bc">  205</a></span>&#160;<span class="preprocessor">#define ASSERT_XYZ_EQ(expected, actual)                  \</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="preprocessor">  ASSERT_PRED_FORMAT2(::pcl::test::internal::XYZEQ,      \</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="preprocessor">                      (expected), (actual))</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="pcl__tests_8h.html#a4493497d16585373a5b0df7cfb95123d">  211</a></span>&#160;<span class="preprocessor">#define EXPECT_XYZ_NEAR(expected, actual, abs_error)     \</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="preprocessor">  EXPECT_PRED_FORMAT3(::pcl::test::internal::XYZNear,    \</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="preprocessor">                      (expected), (actual), abs_error)</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="pcl__tests_8h.html#ac46c3ff166b95ed0116c3a45f8327990">  217</a></span>&#160;<span class="preprocessor">#define ASSERT_XYZ_NEAR(expected, actual, abs_error)     \</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="preprocessor">  EXPECT_PRED_FORMAT3(::pcl::test::internal::XYZNear,    \</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="preprocessor">                      (expected), (actual), abs_error)</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="pcl__tests_8h.html#a9362b84590c817daade827a6811fb51e">  223</a></span>&#160;<span class="preprocessor">#define EXPECT_NORMAL_EQ(expected, actual)               \</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="preprocessor">  EXPECT_PRED_FORMAT2(::pcl::test::internal::NormalEQ,   \</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="preprocessor">                      (expected), (actual))</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="pcl__tests_8h.html#a5f2651450c7a5ff8c7bb2c100733c9ad">  229</a></span>&#160;<span class="preprocessor">#define ASSERT_NORMAL_EQ(expected, actual)               \</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="preprocessor">  ASSERT_PRED_FORMAT2(::pcl::test::internal::NormalEQ,   \</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="preprocessor">                      (expected), (actual))</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="pcl__tests_8h.html#ad4a38d5d8acbb5a4dd848c4fe09d82ff">  236</a></span>&#160;<span class="preprocessor">#define EXPECT_NORMAL_NEAR(expected, actual, abs_error)  \</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="preprocessor">  EXPECT_PRED_FORMAT3(::pcl::test::internal::NormalNear, \</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="preprocessor">                      (expected), (actual), abs_error)</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="pcl__tests_8h.html#a1dc6a06c240fa7f7704709ddec02ee20">  243</a></span>&#160;<span class="preprocessor">#define ASSERT_NORMAL_NEAR(expected, actual, abs_error)  \</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="preprocessor">  EXPECT_PRED_FORMAT3(::pcl::test::internal::NormalNear, \</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;<span class="preprocessor">                      (expected), (actual), abs_error)</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="pcl__tests_8h.html#a58ee41cb85e5d8df24bf261978de80e5">  249</a></span>&#160;<span class="preprocessor">#define EXPECT_RGB_EQ(expected, actual)                  \</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="preprocessor">  EXPECT_PRED_FORMAT2(::pcl::test::internal::RGBEQ,      \</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="preprocessor">                      (expected), (actual))</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="pcl__tests_8h.html#a4bb4e015f5e72708d6f46fc544acc963">  255</a></span>&#160;<span class="preprocessor">#define ASSERT_RGB_EQ(expected, actual)                  \</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="preprocessor">  ASSERT_PRED_FORMAT2(::pcl::test::internal::RGBEQ,      \</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="preprocessor">                      (expected), (actual))</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="pcl__tests_8h.html#aa64292de99e31069c3ca16fa9110546d">  261</a></span>&#160;<span class="preprocessor">#define EXPECT_RGBA_EQ(expected, actual)                 \</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="preprocessor">  EXPECT_PRED_FORMAT2(::pcl::test::internal::RGBAEQ,     \</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="preprocessor">                      (expected), (actual))</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="pcl__tests_8h.html#a8e6c94c51800739fa031130bb9487a1b">  267</a></span>&#160;<span class="preprocessor">#define ASSERT_RGBA_EQ(expected, actual)                 \</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;<span class="preprocessor">  ASSERT_PRED_FORMAT2(::pcl::test::internal::RGBAEQ,     \</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="preprocessor">                      (expected), (actual))</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="preprocessor">#endif</span></div>
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